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Error Compensation For Industrial Robots
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Book Synopsis Error Compensation for Industrial Robots by : Wenhe Liao
Download or read book Error Compensation for Industrial Robots written by Wenhe Liao and published by Springer Nature. This book was released on 2022-11-29 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights the basic theories and key technologies of error compensation for industrial robots. The chapters are arranged in the order of actual applications: establishing the robot kinematic models, conducting error analysis, conducting kinematic and non-kinematic calibrations, and planning optimal sampling points. To help readers effectively apply the technologies, the book elaborates the experiments and applications in robotic drilling and milling, which further verifies the effectiveness of the technologies. This book presents the authors’ research achievements in the past decade in improving robot accuracy. It is straightforwardly applicable for technical personnel in the aviation field, and provides valuable reference for researchers and engineers in various robotic applications.
Book Synopsis Error Compensation for Industrial Robots Using a Calibration Technique by : Rakesh Kumar Bindlish
Download or read book Error Compensation for Industrial Robots Using a Calibration Technique written by Rakesh Kumar Bindlish and published by . This book was released on 1987 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robotics in Smart Manufacturing by : Pedro Neto
Download or read book Robotics in Smart Manufacturing written by Pedro Neto and published by Springer. This book was released on 2013-06-12 with total page 235 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the International Workshop on Robotics in Smart Manufacturing, WRSM 2013, held in Porto, Portugal, in June 2013. The 20 revised full papers presented were carefully reviewed and selected from numerous submissions. The papers address issues such as robotic machining, off-line robot programming, robot calibration, new robotic hardware and software architectures, advanced robot teaching methods, intelligent warehouses, robot co-workers and application of robots in the textile industry.
Book Synopsis Measurement of and Reverse Compensation for Spatial Position Error of Industrial Robots by : Jian-Min Zhu
Download or read book Measurement of and Reverse Compensation for Spatial Position Error of Industrial Robots written by Jian-Min Zhu and published by . This book was released on 2014 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: A measurement system was designed to meet high positioning accuracy requirements for trajectory-determined industrial robots in its partial workspace. Positioning error was calculated and its varying laws were analyzed by tracking the spatial position of the tool center point (TCP) of the industrial robot using a laser tracker and then transforming the relevant coordinate system. A neural network model of the difference between the commanded TCP position and the positioning error of the industrial robot was built. A reverse compensation model of the positioning error of the industrial robot was constructed based on the reverse compensation principle of positioning error, after which the commanded TCP position coordinates were revised accordingly. The experimental results show that the proposed method is feasible and effective, the average positioning error of the robot decreased to 0.028 from 3.232 mm, the standard deviation decreased to 0.100 from 2.987, and the positioning accuracy increased by more than two orders of magnitude. The proposed method is suitable for situations that involve determined trajectory, high positioning accuracy, and sealed robot control systems, and is easily incorporated into engineering applications.
Book Synopsis A Framework for Flexible Integration in Robotics and Its Applications for Calibration and Error Compensation by : Minh Hoang To
Download or read book A Framework for Flexible Integration in Robotics and Its Applications for Calibration and Error Compensation written by Minh Hoang To and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics has been considered as a viable automation solution for the aerospace industry to address manufacturing cost. Many of the existing robot systems augmented with guidance from a large volume metrology system have proved to meet the high dimensional accuracy requirements in aero-structure assembly. However, they have been mainly deployed as costly and dedicated systems, which might not be ideal for aerospace manufacturing having low production rate and long cycle time. The work described in this thesis is to provide technical solutions to improve the flexibility and cost-efficiency of such metrology-integrated robot systems. To address the flexibility, a software framework that supports reconfigurable system integration is developed. The framework provides a design methodology to compose distributed software components which can be integrated dynamically at runtime. This provides the potential for the automation devices (robots, metrology, actuators etc.) controlled by these software components to be assembled on demand for various assembly applications. To reduce the cost of deployment, this thesis proposes a two-stage error compensation scheme for industrial robots that requires only intermittent metrology input, thus allowing for one expensive metrology system to be used by a number of robots. Robot calibration is employed in the first stage to reduce the majority of robot inaccuracy then the metrology will correct the residual errors. In this work, a new calibration model for serial robots having a parallelogram linkage is developed that takes into account both geometric errors and joint deflections induced by link masses and weight of the end-effectors. Experiments are conducted to evaluate the two pieces of work presented above. The proposed framework is adopted to create a distributed control system that implements calibration and error compensation for a large industrial robot having a parallelogram linkage. The control system is formed by hot-plugging the control applications of the robot and metrology used together. Experimental results show that the developed error model was able to improve the 3s positional accuracy of the loaded robot from several millimetres to less than one millimetre and reduce half of the time previously required to correct the errors by using only the metrology. The experiments also demonstrate the capability of sharing one metrology system to more than one robot.
Book Synopsis Compensation for Two Dimensional Position Errors in Industrial Robots by : Sanjeevi Ethiraj
Download or read book Compensation for Two Dimensional Position Errors in Industrial Robots written by Sanjeevi Ethiraj and published by . This book was released on 1988 with total page 123 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Book Synopsis Camera-Aided Robot Calibration by : Hangi Zhuang
Download or read book Camera-Aided Robot Calibration written by Hangi Zhuang and published by CRC Press. This book was released on 2018-04-24 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot calibration is the process of enhancing the accuracy of a robot by modifying its control software. This book provides a comprehensive treatment of the theory and implementation of robot calibration using computer vision technology. It is the only book to cover the entire process of vision-based robot calibration, including kinematic modeling, camera calibration, pose measurement, error parameter identification, and compensation. The book starts with an overview of available techniques for robot calibration, with an emphasis on vision-based techniques. It then describes various robot-camera systems. Since cameras are used as major measuring devices, camera calibration techniques are reviewed. Camera-Aided Robot Calibration studies the properties of kinematic modeling techniques that are suitable for robot calibration. It summarizes the well-known Denavit-Hartenberg (D-H) modeling convention and indicates the drawbacks of the D-H model for robot calibration. The book develops the Complete and Parametrically Continuous (CPC) model and the modified CPC model, that overcome the D-H model singularities. The error models based on these robot kinematic modeling conventions are presented. No other book available addresses the important, practical issue of hand/eye calibration. This book summarizes current research developments and demonstrates the pros and cons of various approaches in this area. The book discusses in detail the final stage of robot calibration - accuracy compensation - using the identified kinematic error parameters. It offers accuracy compensation algorithms, including the intuitive task-point redefinition and inverse-Jacobian algorithms and more advanced algorithms based on optimal control theory, which are particularly attractive for highly redundant manipulators. Camera-Aided Robot Calibration defines performance indices that are designed for off-line, optimal selection of measurement configurations. It then describes three approaches: closed-form, gradient-based, and statistical optimization. The included case study presents experimental results that were obtained by calibrating common industrial robots. Different stages of operation are detailed, illustrating the applicability of the suggested techniques for robot calibration. Appendices provide readers with preliminary materials for easier comprehension of the subject matter. Camera-Aided Robot Calibration is a must-have reference for researchers and practicing engineers-the only one with all the information!
Book Synopsis Modelling and Compensation of Positioning Errors in Robotic Machining Systems by : Jing Liu
Download or read book Modelling and Compensation of Positioning Errors in Robotic Machining Systems written by Jing Liu and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Industrial robots are widely used in manufacturing operations such as drilling, welding, and painting. In recent years, robots have gained significant attraction for aerospace machining (material removal) as well. Compared to conventional CNC machine tools, robots have higher versatility and a lower cost. However, robotic arms suffer from low structural stiffness, which leads to deflection errors under machining loads, as well as vibrations during high speed motions of the arm. To tackle these issues, this thesis presents a systematic framework for the prediction and pre-compensation of positioning errors to improve the accuracy of machining robots. The kinematic and compliance models of a Stäubli RX-90 industrial robot are first formulated mathematically. In the developed model, it is assumed that the links of the robot are rigid, and therefore all flexibilities originate from the joints. A cutting force model is developed to predict the machining forces exerted on the robot's end-effector (i.e. milling tool) during 3-axis milling operations. The predicted forces are combined with the compliance model of the robot to determine the structural deflections during machining. In order to reduce the residual vibrations of the robot in high speed motions, the concept of input shaping is introduced. It is shown that input shaping can distort the reference toolpath, which leads to the deviation of the actual machining path from the desired trajectory, also known as contour error. Finally, a systematic framework is proposed to predict and compensate for positioning errors in robotic machining. The developed model can determine the contour errors caused by both cutting force-induced deflections and input shaping distortions. The model then adjusts the joint commands to compensate for the predicted errors. The entire framework has been programmed in MATLAB, and simulation results prove that the proposed framework can significantly reduce contour errors in robotic machining.
Book Synopsis Industrial Robotics by : Antoni Grau
Download or read book Industrial Robotics written by Antoni Grau and published by BoD – Books on Demand. This book was released on 2020-09-09 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, a new approach to the Industry 4.0 revolution is given. New policies and challenges appear and education in robotics also needs to be adapted to this new era. Together with new factory conceptualization, novel applications introduce new paradigms and new solutions to old problems. The factory opens its walls and outdoor applications are solved with new robot morphologies and new sensors that were unthinkable before Industry 4.0 era. This book presents nine chapters that propose a new outlook for an unstoppable revolution in industrial robotics, from drones to software robots
Book Synopsis Positioning of Robotic Manipulator End Effector Using Joint Error Maximum Mutual Compensation by : Yauheni Veryha
Download or read book Positioning of Robotic Manipulator End Effector Using Joint Error Maximum Mutual Compensation written by Yauheni Veryha and published by Logos Verlag Berlin. This book was released on 2006 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many researchers have been doing their best in the last decades to improve such important characteristics of robots as their positioning and orientation accuracy. However, constantly increasing industry demand of achieving high positioning accuracy still requires further research and improvements in this area. Have you ever tried to build the highest one-column tower out of domino blocks? If you imagine that the height of your domino tower is equivalent to the robot end-effector positioning accuracy, then the errors in robot joints can be equivalent to the inaccuracy of placing the domino blocks on the top of your tower. Hence, if the position of the following domino block in the tower can compensate previous mistakes made with other domino blocks, then one can expect that joint errors in robots can also compensate each other if one is able to find appropriate configurations for robot joints. The latter problem was targeted in this book. The general-purpose algorithms and sim ulation frameworks to find optimal configurations of various types of industrial robots are presented. The method for robotic manipulator positioning accuracy improvement using joint error maximum mutual compensation was developed to help engineers to design and implement their robotic systems with the maximum possible positioning and orientation accuracy. Our approach can be widely used on the stages of robot end-effector trajectory planning. In most practical cases, one can observe the improvement of robot end-effector positioning accuracy by ten - fifteen percent and, in extreme cases, by two times and more. Surprisingly, this can be achieved without any additional hardware or measurement equipment.
Book Synopsis Dynamic Error Compensation in Robotic Trusses by : Allen R. Boronkay
Download or read book Dynamic Error Compensation in Robotic Trusses written by Allen R. Boronkay and published by . This book was released on 1993 with total page 732 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Recent Advances in Mechanism Design for Robotics by : Shaoping Bai
Download or read book Recent Advances in Mechanism Design for Robotics written by Shaoping Bai and published by Springer. This book was released on 2015-05-05 with total page 430 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains the Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, held in Aalborg, Denmark, 2-4 June, 2015. The book contains papers on recent advances in the design of mechanisms and their robotic applications. It treats the following topics: mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, innovative mechanisms/robots and their applications, among others. The book can be used by researchers and engineers in the relevant areas of mechanisms, machines and robotics.
Book Synopsis Fundamentals of Manipulator Calibration by : Benjamin W. Mooring
Download or read book Fundamentals of Manipulator Calibration written by Benjamin W. Mooring and published by Wiley-Interscience. This book was released on 1991-03-19 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Describes the details of the calibration process step-by-step, covering systems modeling, measurement, identification, correction and performance evaluation. Calibration techniques are presented with an explanation of how they interact with each other as they are modified. Shows the reader how to determine if, in fact, a robot problem is a calibration problem and then how to analyze it.
Book Synopsis Advances in Machinery, Materials Science and Engineering Application by : M. Chen
Download or read book Advances in Machinery, Materials Science and Engineering Application written by M. Chen and published by IOS Press. This book was released on 2022-10-11 with total page 988 pages. Available in PDF, EPUB and Kindle. Book excerpt: Keeping up to date with advances in material science and applied engineering is essential for those working in the field if they are to understand and tackle the challenges they face in an efficient manner and adopt the best and most appropriate solutions available. This book presents the proceedings of MMSE 2022, the 8th International Conference on Advances in Machinery, Materials Science and Engineering Application, held as a hybrid event (both in-person and online) in Wuhan, China, on 23 and 24 July 2022. For the past 12 years, the MMSE international conferences have collated recent advances and experiences, identified emerging trends in technology and encouraged lively debate between students, specialists, engineers and associations from around the world, all of which have had a positive impact in helping to address the world’s engineering challenges. The book contains 121 papers, selected by means of a rigorous international peer-review process by editors and reviewers from the 215 submissions received. Topics covered include the latest advancements in applied mechanics, intelligent manufacturing technology, mechanical and electromechanical engineering, heat transfer, combustion, advanced materials sciences, industrial applications, applied mathematics, simulation and interdisciplinary engineering. Presenting a wealth of exciting ideas for solving real problems in the real world and opening novel research directions, the book will be of interest to materials specialists and engineers from both academia and industry everywhere.
Book Synopsis Gravity Compensation in Robotics by : Vigen Arakelian
Download or read book Gravity Compensation in Robotics written by Vigen Arakelian and published by Springer Nature. This book was released on 2022-03-18 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents new research results in the field of gravity compensation in robotic systems. It explores topics such as gravity compensation of planar articulated robotic manipulators; the stiffness modeling of manipulators with gravity compensators; the multi-degree-of-freedom counter-balancing; the design of actuators with partial gravity compensation; a cable-driven robotic suit with gravity compensation for load carriage; various compensation systems for medical cobots and assistive devices; gravity balancing of parallel robots. The volume demonstrates that gravity compensation methods continue to develop, and new approaches and solutions are constantly being reported. These solutions apply both to new structural solutions and to their new applications. Cobots, exoskeletons and robotic suits, assistive devices, as well as biomechanical systems are among the most promising applications and most pressing areas for further innovation.
Book Synopsis Intelligent Robotics and Applications by : Huayong Yang
Download or read book Intelligent Robotics and Applications written by Huayong Yang and published by Springer Nature. This book was released on 2023-11-06 with total page 629 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 9-volume set LNAI 14267-14275 constitutes the proceedings of the 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, which took place in Hangzhou, China, during July 5–7, 2023. The 413 papers included in these proceedings were carefully reviewed and selected from 630 submissions. They were organized in topical sections as follows: Part I: Human-Centric Technologies for Seamless Human-Robot Collaboration; Multimodal Collaborative Perception and Fusion; Intelligent Robot Perception in Unknown Environments; Vision-Based Human Robot Interaction and Application. Part II: Vision-Based Human Robot Interaction and Application; Reliable AI on Machine Human Reactions; Wearable Sensors and Robots; Wearable Robots for Assistance, Augmentation and Rehabilitation of Human Movements; Perception and Manipulation of Dexterous Hand for Humanoid Robot. Part III: Perception and Manipulation of Dexterous Hand for Humanoid Robot; Medical Imaging for Biomedical Robotics; Advanced Underwater Robot Technologies; Innovative Design and Performance Evaluation of Robot Mechanisms; Evaluation of Wearable Robots for Assistance and Rehabilitation; 3D Printing Soft Robots. Part IV: 3D Printing Soft Robots; Dielectric Elastomer Actuators for Soft Robotics; Human-like Locomotion and Manipulation; Pattern Recognition and Machine Learning for Smart Robots. Part V: Pattern Recognition and Machine Learning for Smart Robots; Robotic Tactile Sensation, Perception, and Applications; Advanced Sensing and Control Technology for Human-Robot Interaction; Knowledge-Based Robot Decision-Making and Manipulation; Design and Control of Legged Robots. Part VI: Design and Control of Legged Robots; Robots in Tunnelling and Underground Space; Robotic Machining of Complex Components; Clinically Oriented Design in Robotic Surgery and Rehabilitation; Visual and Visual-Tactile Perception for Robotics. Part VII: Visual and Visual-Tactile Perception for Robotics; Perception, Interaction, and Control of Wearable Robots; Marine Robotics and Applications; Multi-Robot Systems for Real World Applications; Physical and Neurological Human-Robot Interaction. Part VIII: Physical and Neurological Human-Robot Interaction; Advanced Motion Control Technologies for Mobile Robots; Intelligent Inspection Robotics; Robotics in Sustainable Manufacturing for Carbon Neutrality; Innovative Design and Performance Evaluation of Robot Mechanisms. Part IX: Innovative Design and Performance Evaluation of Robot Mechanisms; Cutting-Edge Research in Robotics.
